Image-Tiles-Based Environment Reconstruction

2. The computer-implemented method of claim 1, wherein the voxels in the at least one 3D grid are of varying sizes, wherein a size of a given voxel is a function of a distance of the given voxel from at least one viewpoint from which at least one of the plurality of colour images is captured.

5. The computer-implemented method of claim 1, wherein the plurality of colour images comprise mipmaps of a plurality of input colour images.

7. The computer-implemented method of claim 6, further comprising downscaling a given colour tile, prior to packing into the atlas image, when a frequency with which colour changes across the given colour tile is less than a predefined threshold frequency.

12. The computer-implemented method of claim 11, wherein the step of reconstructing comprises reprojecting the colour tiles that are selected for each visible node of said set to match the new viewpoint, based on the corresponding depth tiles that are selected therefor.

14. A computer program product comprising a non-transitory machine-readable data storage medium having stored thereon program instructions that, when executed by a processor, cause the processor to execute steps of the computer-implemented method of claim 1.

16. The system of claim 15, wherein the voxels in the at least one 3D grid are of varying sizes, wherein a size of a given voxel is a function of a distance of the given voxel from at least one viewpoint from which at least one of the plurality of colour images is captured.

19. The system of claim 15, wherein the plurality of colour images comprise mipmaps of a plurality of input colour images.

21. The system of claim 20, wherein the at least one server is configured to downscale a given colour tile, prior to packing into the atlas image, when a frequency with which colour changes across the given colour tile is less than a predefined threshold frequency.

26. The system of claim 25, wherein when reconstructing, the at least one server is configured to reproject the colour tiles that are selected for each visible node of said set to match the new viewpoint, based on the corresponding depth tiles that are selected therefor.